lint

Author: qianl-nv

isaaclab_arena/embodiments/g1/g1.py

@@ -66,7 +66,7 @@ def __init__(
             anchor_pos=(0.0, 0.0, -1.0),
             anchor_rot=(0.70711, 0.0, 0.0, -0.70711),
             anchor_prim_path="/World/envs/env_0/Robot/pelvis",
-            anchor_rotation_mode = XrAnchorRotationMode.FOLLOW_PRIM_SMOOTHED,
+            anchor_rotation_mode=XrAnchorRotationMode.FOLLOW_PRIM_SMOOTHED,
             fixed_anchor_height=True,
         )
 

isaaclab_arena/tests/test_xr_anchor_pose.py

@@ -196,5 +196,5 @@ def test_xr_anchor_multiple_positions():
 
 if __name__ == "__main__":
     test_gr1t2_xr_anchor_pose()
-    #test_g1_xr_anchor_pose()
+    # test_g1_xr_anchor_pose()
     test_xr_anchor_multiple_positions()

isaaclab_arena_g1/g1_env/mdp/actions/g1_decoupled_wbc_pink_action.py

@@ -11,8 +11,8 @@
 from scipy.spatial.transform import Rotation as R
 from typing import TYPE_CHECKING
 
-from isaaclab.assets.articulation import Articulation
 import isaaclab.utils.math as math_utils
+from isaaclab.assets.articulation import Articulation
 
 from isaaclab_arena_g1.g1_env.mdp.actions.g1_decoupled_wbc_joint_action import G1DecoupledWBCJointAction
 from isaaclab_arena_g1.g1_whole_body_controller.wbc_policy.g1_wbc_upperbody_ik.g1_wbc_upperbody_controller import (
@@ -379,9 +379,7 @@ def preprocess_actions(self, actions: torch.Tensor) -> torch.Tensor:
         wrist_pos_world = torch.stack([actions[0, 2:5], actions[0, 9:12]], dim=0)
         wrist_pos_translated = wrist_pos_world - robot_base_pos
         robot_base_quat_batch = robot_base_quat.unsqueeze(0).expand(2, -1)
-        wrist_pos_base = math_utils.quat_apply_inverse(
-            robot_base_quat_batch, wrist_pos_translated
-        )
+        wrist_pos_base = math_utils.quat_apply_inverse(robot_base_quat_batch, wrist_pos_translated)
 
         wrist_quat_world = torch.stack([actions[0, 5:9], actions[0, 12:16]], dim=0)
         robot_base_quat_inv = math_utils.quat_inv(robot_base_quat.unsqueeze(0)).expand(2, -1)